S. Cunningham, C. Crane, D. Armstrong, A. Rankin, D. Novick, J. Wit, and J. Duffy, "Development and Tuning of an Autonomous Control System for Application to Heavy Construction Equipment," Proceedings of the 1996 International Symposium on Robotics and Manufacturing, Montpellier, France, May 1996.

A. Rankin, C. Crane, J. Duffy, "Modeling the Steering Behavior of an Autonomous Land Vehicle," Proceedings of the IASTED International Conference on Applied Modeling and Simulation, July 1997, 404-407.

A. Rankin, C. Crane, J. Duffy, "Simulating the Motion of an Nonholonomic Robot and its Trailer," Proceedings of the 5th International Symposium on Advances in Robot Kinematics, Portoroz-Bernardin, Slovenia, June 1996, 277-286.